Polar correction based sub-pixel level phase three-dimensional matching method

A technique of epipolar correction and stereo matching, applied in image enhancement, image analysis, image data processing, etc., can solve the problems of low precision, large amount of calculation, slow speed, etc. degree of effect

Active Publication Date: 2015-02-04
TIANJIN POLYTECHNIC UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art, and provide a sub-pixel level phase stereo matching method based on epipolar line correction, whose key tech

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  • Polar correction based sub-pixel level phase three-dimensional matching method
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Embodiment Construction

[0018] The system block diagram of the present invention is as figure 1 As shown, firstly, the internal and external parameters of the camera are calibrated, and the basic matrix of the stereo image pair is obtained by using the calibrated internal and external parameters, and then the epipolar correction is performed according to the obtained basic matrix, and the stereo image pair with standard polar geometry is obtained. According to the corrected The image is interpolated by bilinear interpolation method, and then according to the phase image, the template matching method is used to obtain the initial matching point by calculating the similarity metric value, and finally, the surface fitting method based on the least square method is used for two For subsurface fitting, the peak coordinates of the fitted surface are selected as the optimal matching position coordinates, so as to obtain the sub-pixel-level optimal matching position coordinates. The specific implementation p...

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Abstract

The invention belongs to the field of machine vision and relates to a polar correction based sub-pixel level phase three-dimensional matching method. The polar correction based sub-pixel level phase three-dimensional matching method mainly aims at the problem of three-dimensional matching efficiency and accuracy in a three-dimensional measuring system through a binocular structure projection gate phase method. According to the polar correction based sub-pixel level phase three-dimensional matching method, a binocular three-dimensional visual geometric structure is calibrated into a head-up binocular standard geometric structure, phases formed by a matching point in a left camera and a right camera are in the same horizontal line, a dense phase value of a calibrated new phase graph is obtained through bilinear interpolation, a phase area based three-dimensional matching algorithm is provided, an initial matching point is obtained, similarities within a 3*3 area close to the initial matching point are fit into a quadric surface through least square method based surface fitting, a local minimum of the surface is obtained, and coordinates of a right camera matching point with the same phase as a to-be-matched point are obtained. The polar correction based sub-pixel level phase three-dimensional matching method can rapidly and accurately achieve dense three-dimensional matching and satisfies a requirement for industrial applications.

Description

technical field [0001] The invention belongs to the field of machine vision, and in particular relates to a sub-pixel level phase stereo matching method based on epipolar correction, which can meet the requirements of high-efficiency and fast matching in industrial measurement. Background technique [0002] The binocular stereo vision measurement system based on the projected grating phase method is an important method for optical non-contact three-dimensional surface-intensive measurement. This method has the characteristics of rapidity and high precision, and is widely used in industrial measurement. The visual measurement system uses a digital projector to project grating stripes onto the surface of the object, and calculates the wrapped phase map containing the three-dimensional information on the surface of the measured object by collecting multiple frames of stripe images. The phase value is wrapped in [-π, π], and the corresponding The method unpacks the wrapped phas...

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T3/4069G06T7/85G06T2207/10012
Inventor 耿磊郎建业肖志涛张芳吴骏李月龙刘洋叶琨苏静静
Owner TIANJIN POLYTECHNIC UNIV
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